//头文件

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp/bt_factory.h"
using std::placeholders::_1;
using namespace std::chrono_literals;
#ifndef RM_BT_H
#define RM_BT_H

//值的定义
std::string are_value="";

//创建ros对行为树的修饰器
class ROS2DecoratorNode  : public BT::SyncActionNode
{
public:
  ROS2DecoratorNode(const std::string& name, const BT::NodeConfig& config) :
    BT::SyncActionNode(name, config)
  {}

  BT::NodeStatus tick() override
  {
    //端口映射

    return BT::NodeStatus::SUCCESS;
  }


  static BT::PortsList providedPorts()
  {
    
    return {
      //端口注册

    };
  }
};


class RM_bt : public rclcpp::Node 
{
  public:
    RM_bt():Node("RM_bt") 
    {
    RCLCPP_INFO(this->get_logger(), "RM_bt,go");
    //创建订阅方

    //创建发布方

    }
    //回调函数

    //定时器

  private:
    //初始化订阅方
   
    //初始化发布方
};

#endif